CN105671654B - A kind of ion induction type artificial skin array structure and preparation method thereof - Google Patents
A kind of ion induction type artificial skin array structure and preparation method thereof Download PDFInfo
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- CN105671654B CN105671654B CN201610040742.6A CN201610040742A CN105671654B CN 105671654 B CN105671654 B CN 105671654B CN 201610040742 A CN201610040742 A CN 201610040742A CN 105671654 B CN105671654 B CN 105671654B
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D5/00—Formation of filaments, threads, or the like
- D01D5/0007—Electro-spinning
- D01D5/0015—Electro-spinning characterised by the initial state of the material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
- D03D15/40—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads
- D03D15/47—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads multicomponent, e.g. blended yarns or threads
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04H—MAKING TEXTILE FABRICS, e.g. FROM FIBRES OR FILAMENTARY MATERIAL; FABRICS MADE BY SUCH PROCESSES OR APPARATUS, e.g. FELTS, NON-WOVEN FABRICS; COTTON-WOOL; WADDING ; NON-WOVEN FABRICS FROM STAPLE FIBRES, FILAMENTS OR YARNS, BONDED WITH AT LEAST ONE WEB-LIKE MATERIAL DURING THEIR CONSOLIDATION
- D04H1/00—Non-woven fabrics formed wholly or mainly of staple fibres or like relatively short fibres
- D04H1/40—Non-woven fabrics formed wholly or mainly of staple fibres or like relatively short fibres from fleeces or layers composed of fibres without existing or potential cohesive properties
- D04H1/54—Non-woven fabrics formed wholly or mainly of staple fibres or like relatively short fibres from fleeces or layers composed of fibres without existing or potential cohesive properties by welding together the fibres, e.g. by partially melting or dissolving
- D04H1/541—Composite fibres, e.g. sheath-core, sea-island or side-by-side; Mixed fibres
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06M—TREATMENT, NOT PROVIDED FOR ELSEWHERE IN CLASS D06, OF FIBRES, THREADS, YARNS, FABRICS, FEATHERS OR FIBROUS GOODS MADE FROM SUCH MATERIALS
- D06M11/00—Treating fibres, threads, yarns, fabrics or fibrous goods made from such materials, with inorganic substances or complexes thereof; Such treatment combined with mechanical treatment, e.g. mercerising
- D06M11/07—Treating fibres, threads, yarns, fabrics or fibrous goods made from such materials, with inorganic substances or complexes thereof; Such treatment combined with mechanical treatment, e.g. mercerising with halogens; with halogen acids or salts thereof; with oxides or oxyacids of halogens or salts thereof
- D06M11/11—Treating fibres, threads, yarns, fabrics or fibrous goods made from such materials, with inorganic substances or complexes thereof; Such treatment combined with mechanical treatment, e.g. mercerising with halogens; with halogen acids or salts thereof; with oxides or oxyacids of halogens or salts thereof with halogen acids or salts thereof
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06M—TREATMENT, NOT PROVIDED FOR ELSEWHERE IN CLASS D06, OF FIBRES, THREADS, YARNS, FABRICS, FEATHERS OR FIBROUS GOODS MADE FROM SUCH MATERIALS
- D06M11/00—Treating fibres, threads, yarns, fabrics or fibrous goods made from such materials, with inorganic substances or complexes thereof; Such treatment combined with mechanical treatment, e.g. mercerising
- D06M11/51—Treating fibres, threads, yarns, fabrics or fibrous goods made from such materials, with inorganic substances or complexes thereof; Such treatment combined with mechanical treatment, e.g. mercerising with sulfur, selenium, tellurium, polonium or compounds thereof
- D06M11/55—Treating fibres, threads, yarns, fabrics or fibrous goods made from such materials, with inorganic substances or complexes thereof; Such treatment combined with mechanical treatment, e.g. mercerising with sulfur, selenium, tellurium, polonium or compounds thereof with sulfur trioxide; with sulfuric acid or thiosulfuric acid or their salts
Abstract
The invention discloses a kind of ion induction type artificial skin array structures and preparation method thereof, it is characterised in that：It is the array architecture being arranged to make up by combination electrode fiber crossovers, or the array architecture being made of combination electrode fiber and the flexible fiber electrode cross arrangement being made of an electrically conducting material, or by combination electrode fibrage into fabric construction or by combination electrode fiber and the flexible fiber electrode mixed weaving that is made of an electrically conducting material into fabric construction；Wherein, combination electrode fiber is made of sandwich layer and sheaths；Sandwich layer is the flexible fiber electrode being made of an electrically conducting material, and sheaths are the wrapping layers of the flexible fiber electrode made of polyelectrolyte；Sheaths are wrapped in the outer surface of sandwich layer and sandwich layer both ends and expose.The present invention is the ion induction type artificial skin array moved based on Ion transfer, can simulate biological skin tactile bioelectricity principle of induction, and compared to other types of artificial skin material, sensing capability is more strengthened, and reaction is sensitiveer.
Description
Technical field
The present invention relates to a kind of New Electroactive material and its technologies of preparing, and in particular to one kind is based on ion influence electricity
Artificial skin array structure and preparation method thereof.
Background technology
Artificial skin can simulate the tactilely-perceptible function of biological skin, in robot, modern medical service health monitoring, deformity
The fields such as people's limbs organ, operation control arm and wearing electronic product have great application potential and industrialization market.
Traditional artificial skin material is bad with human body matching in flexibility, and the dynamic frequency for simulating human skin does not have
Advantage, skin tactilely-perceptible function are untrue.In recent years, the artificial skin based on thin polymer film improves to a certain extent
These problems.
According to the difference of sensing principle, artificial skin material is broadly divided into two class of parameter type and self-power generation type.Wherein parameter
Resistor-type artificial skin material that formula is developed with Lipomi DJ et al. (Lipomi DJ, et al.Nat Nano, 2011,6
(12):788-792) and capacitive artificial skin material (the Takamatsu S, et of Takamatsu S et al. research
al.Sensors and Actuators A:Physical,2012,184(0):It is 57-63) representative, in the event that it is active,
Cause the variation of material electrical properties (capacitance or resistance) by ess-strain by measuring, indirect detection applies stressed variation.
Self-power generation type is with Gao Q et al. (Gao Q, et al.Langmuir, 2012,28 (51):17593-17596) and Mandal D etc.
People (Mandal D, et al.Macromolecular Rapid Communications, 2011,32 (11):831-837) etc.
To represent, it is divided into piezo-electric type and ionic.
Parameter type flexible sensor be required to external power supply power supply, energy consumption is larger, and currently advanced equipment intelligence and
Multifunction has particularly harsh limitation to the energy consumption for reducing sensing element.Can self power generation two kinds of different type flexible sensings
In material, the ionic artificial skin material based on ion transport has better temperature stability and antijamming capability.
Ionic electroactive polymer (EAP, Electro-active Polymer) is a kind of novel ionic flexibility material
Material.It is similar to skin tactilely-perceptible mechanism, its inner ion can move under pressure, so as to make material in pressure
Potential difference, therefore the advantage of great exploitation novel flexible artificial skin material are generated on direction.However conventional ion type EAP is direct
As artificial skin sensor, there are two insufficient：1) most independent measurements, it is difficult to array；2) it is not quick enough to local small deformation
Sense.Basic principle based on ionic EAP is designed a kind of ion induction type artificial skin array structure by the present invention, has weight
The engineering significance wanted.
Invention content
It is an object of the invention to propose a kind of ion induction type artificial skin array structure and preparation method thereof, more really
Realize pressure tactilely-perceptible function, overcome the deficiencies in the prior art in ground.
For achieving the above object, the present invention adopts the following technical scheme that：
The present invention proposes a kind of ion induction type artificial skin array structure, and feature is：The artificial skin array
Structure is the array architecture that is arranged to make up by combination electrode fiber crossovers or by combination electrode fiber and by conductive material system
Into the cross arrangement of flexible fiber electrode form array architecture or by combination electrode fibrage into fabric construction,
Or by combination electrode fiber and the flexible fiber electrode mixed weaving that is made of an electrically conducting material into fabric construction；
Wherein, the combination electrode fiber is made of sandwich layer and sheaths；The sandwich layer is the flexibility being made of an electrically conducting material
Fiber electrode, the sheaths are the wrapping layers of the flexible fiber electrode made of polyelectrolyte；The sheaths are wrapped in sandwich layer
Outer surface and the exposing of sandwich layer both ends.
The mode of the cross arrangement is arranged for upper and lower layer-stepping, positioned at the combination electrode fiber and/or flexibility of same layer
Fiber electrode is mutually parallel, and the arrangement angle of combination electrode fiber and/or flexible fiber electrode is 10 °~90 ° between levels.
The fabric construction is two-dimentional longitudinal-latitudinal type fabric construction, three-dimensional and multidimensional longitudinal-latitudinal type fabric construction or non-longitudinal-latitudinal type fabric construction.
The section of the flexible fiber electrode and the combination electrode fiber is round, ellipse or rectangle.It forms same
The flexible fiber electrode of a skin array structure and/or the cross section structure of combination electrode fiber can be the same or different, and appoint
Meaning selection
The radical length of the flexible fiber electrode is 10~500 μm, axial length is not less than 2cm；The thickness of the sheaths
Ranging from 10~500 μm of degree；The integral thickness of the artificial skin array structure is not more than 2mm.
The conductive material may be selected from metal material (such as gold, copper, silver, platinum or its alloy), carbon nanotube or carbon nanotube
With the mixture of graphene；
The polyelectrolyte material is ion exchange membrane material (such as Dupont companies Nafion series, Asahi
The Aciplex sequence of ion film of Chemical companies, the Flemion sequence of ion film and Solvay of Asahi Glass companies
The Aquivion sequence of ion film of Solexis companies) or neutral polymer (PVDF, chitosan) and ionic liquid
The mixture of (EMITFSI, etc).
The ion principle of induction of artificial skin material of the present invention is that the point of pressure sensitive under the effect of external force generates electric induction,
Electric induction is conducted by conductive sandwich layer flexible fiber electrode to dispatch from foreign news agency path control system.Wherein pressure sensitive point is combination electrode
Fiber and/or flexible fiber electrode intersect the contact point of composition in pairs.
The preparation method of above-mentioned artificial skin array structure is：
(1) flexible fiber electrode is made by Electrospinning in conductive material；Or with filiform (such as yarn) for base,
Layer of conductive material (such as plating silver yarn, platinum plating yarn, copper facing yarn) is plated on the filiform, flexible fiber electrode is made；
Wire can be used directly as flexible fiber electrode；
(2) polyelectrolyte is evaporated into film technique by solution, is wrapped on flexible fiber electrode and forms sheaths, be made multiple
Composite electrode fiber；The modes such as extruding, high-temperature fusion can also be used to obtain flexible fiber electrode sandwich layer-poly- electricity other materials
Solve matter sheaths composite construction.
(3) by combination electrode fiber or by combination electrode fiber and the cross arrangement of flexible fiber electrode hierarchy into array junctions
Structure, then different layers are laminated at contact point by hot forming technology, ion induction type artificial skin array junctions are made
Structure；Combination electrode fiber and/or flexible fiber electrode positioned at same layer are mutually parallel, combination electrode fiber between levels
And/or the arrangement angle of flexible fiber electrode is 10 °~90 °.
Or：Fabric construction is woven into, then pass through by combination electrode fiber or by combination electrode fiber and flexible fiber electrode
Different layers are laminated by hot forming technology at contact point, and ion induction type artificial skin array structure is made；
(4) ion induction type artificial skin array structure made from step (3) is post-processed to improve performance, i.e., it is complete
Into preparation.
For the tensile strength for adjusting the resolution ratio of artificial skin array structure, increasing artificial skin array structure, in step
Suddenly (3) cross arrangement adds in yarn or insulating polymer fiber into array structure or during being woven into fabric construction.
Step (4) post processing is in hydrochloric acid first by the artificial skin array structure obtained by step (3)
Impregnated in (0.1mol/L) or sulfuric acid (0.05mol/L) (no less than 1h), then again alkali or alkaline earth metal sun from
It is impregnated in sub- solution (no less than 1h).It is first to remove the impurity of artificial skin material, be then placed in alkali with acid soak
Immersion is the cation in order to replace the inside in metal or alkaline earth metal cation solution, is carried out using such as sodium ion conductive.
Present invention further propose that above-mentioned artificial skin array structure is used in bio-robot, pressure sensor or wearing
In flexible electronic device.
Beneficial effects of the present invention are embodied in：
The present invention is the ion induction type artificial skin array moved based on Ion transfer, can simulate biological skin tactile
Bioelectricity principle of induction, compared to other types of artificial skin material, the tactile feel of principle of induction closer to real skin should
Principle, sensing capability are more strengthened, and reaction is sensitiveer.
The artificial skin of the present invention is based primarily upon the basic principle of ionic electroactive polymer, design textile type skin battle array
Row, dexterously using the anisotropy of electrode fiber, produce the composite wood with enough sensing resolution and mechanical strength
Material, can simulation biological skin feeling function very well.
Description of the drawings
Fig. 1 is the structure diagram of combination electrode fiber；
Fig. 2 and Fig. 3 is the schematic diagram of two kinds of structure type of ion induction type artificial skin array structure of the present invention；
Fig. 4 is that the artificial skin array structure in the embodiment of the present invention 1 applies the electroresponse result figure after pressure；
Fig. 5 is the schematic diagram of the combination electrode fiber production device in the embodiment of the present invention 2；
Fig. 6 a and Fig. 6 b are the schematic diagram of artificial skin material's array structure in the embodiment of the present invention 2；
Fig. 7 is inner ion state diagram of artificial skin material's array structure before and after stress in the embodiment of the present invention 2,
Middle Fig. 7 (a) is before stress, Fig. 7 (b) is after stress；
Fig. 8 is the schematic diagram of artificial skin material's array structure in the embodiment of the present invention 3；
Fig. 9 is the schematic diagram of artificial skin material's array structure in the embodiment of the present invention 4；
Figure label：1 is feed inlet, and 2 be heating mold, and 3 be heating plate, and 4 be valve, and 5 be valve handle, and 6 be flexibility
Fiber electrode, 7 combination electrode fibers, 8 yarns.
Specific embodiment
The artificial skin array structure of the present invention is the array being made of combination electrode fiber (as shown in Figure 1) cross arrangement
Formula structure (as shown in Figure 2) or by combination electrode fiber and the flexible fiber electrode cross arrangement structure that is made of an electrically conducting material
Into array architecture or by combination electrode fibrage into fabric construction or by combination electrode fiber and by conduction
Flexible fiber electrode mixed weaving made of material into fabric construction (as shown in Figure 3).
As shown in Figure 1, combination electrode fiber is made of sandwich layer and sheaths；Sandwich layer is the flexible fiber being made of an electrically conducting material
Electrode, sheaths are the wrapping layers of the flexible fiber electrode made of polyelectrolyte；Sheaths are wrapped in the outer surface of sandwich layer and sandwich layer
Expose at both ends.
More specific detail is made to technical scheme of the present invention with reference to several embodiments further below.
Embodiment 1
The present embodiment prepares the ion induction type artificial skin based on wire and Nafion ionic membrane materials as follows
Skin array structure：
(1) prepare adhesive tab, copper wire and Nafion D520 (5%) solution (DuPont Corporation's production), it is (straight with copper wire
About 150 μm of diameter, length 10cm) directly as flexible fiber electrode.
(2) it using Nafion D520 (5%) solution (DuPont Corporation's production) as polyelectrolyte solution, is dripped and is covered
On copper wire, 50 DEG C are dried 3 hours, and evaporation film forming forms sheaths, combination electrode fiber is made；
(3) using glass plate as substrate, three combination electrode fibers parallels are arranged in above glass plate first, it is adjacent compound
Distance is 5mm between electrode fiber, and end is fixed with two adhesive tabs.Then other three combination electrode fibers are hung down in 90 °
On lower floor's combination electrode fiber, the spacing of adjacent combination electrode fiber is similarly 5mm for straight cross arrangement.
By the array structure arranged in 50 DEG C of hot formings, make to be laminated at contact point for two layers, ion sense is made
Answer formula artificial skin array structure；
(4) entire array structure under being peeled off from glass plate, impregnates 2 hours in the HCl of 0.1mol/L；Then exist
It is impregnated 2 hours in the NaCl solution of 0.2mol/L, obtains finished product ion induction type artificial skin array structure of good performance.
The voltage responsive of artificial skin material is measured and recorded with multifunctional recorder GL900, and material is placed in plastic plate
On, logger is connected in a pair of vertical copper wire end, applies pressure at two copper wire contact points, the results are shown in Figure 4.It can see
Go out after applying pressure, voltage is first there are one zooming peak value, followed by rapid decay, this and traditional IPMC materials are classes
As, the size of voltage peak is related with applying stressed size.
Embodiment 2
It is artificial that the present embodiment prepares the ion induction type based on silver plated fiber and Nafion ionic membrane materials as follows
Skin array structure：
(1) several fibers filiform in Ag nanoparticulate dispersions is impregnated, then evaporates solvent, obtain silver-plated fibre
Dimension, as flexible fiber electrode；
(2) combination electrode fiber production device as shown in Figure 5 is used, valve 4 is opened by valve handle 5, it will be flexible
Fiber electrode 6 is inserted into heating mold 2, shuts valve 4, horizontal, and then by Nafion D520 (5%) solution, (Dupont is public
Department's production) it is poured into heating mold from feed inlet 1 by funnel, it is heated by heating plate 3, is first kept the temperature at 80 DEG C
30min, then temperature is promoted to 120 DEG C of heat preservation 6h, it finally rises to 140 DEG C and keeps the temperature 30min.It treats that device cools down, adds in appropriate
Deionized water simultaneously boils 5min, you can obtains combination electrode fiber.
(3) as shown in figures 6 a and 6b, by two layers of cross arrangement of combination electrode fiber point into array structure, each layer is parallel
Arrangement, is arranged vertically between layers, is tightly connected between combination electrode.Different layers are being contacted by 50 DEG C of hot formings again
It is laminated at point, ion induction type artificial skin array structure is made.
(4) that ion induction type artificial skin array structure made of step (3) is impregnated 2 in the HCl of 0.1mol/L is small
When；Then it is impregnated 2 hours in the NaCl solution of 0.2mol/L, obtains finished product ion induction type artificial skin battle array of good performance
Array structure.
Fig. 7 a and Fig. 7 b are inner ion motion diagram of the present embodiment sample before and after stress.As can be seen from the figure when connecing
During the stress of contact, the cation (being sodium ion in the present embodiment) in polyelectrolyte can be sent out with hydrone to center movement
Raw electric charge transfer, generates electric current, external circuit is reached by flexible fiber electrode.
Embodiment 3
The present embodiment is prepared as follows to be sensed by the ion that combination electrode fiber and flexible fiber electrode are formed in pairs
Formula artificial skin array structure：
(1) silver plated fiber is prepared in the way of in embodiment 2, as flexible fiber electrode 6；
(2) it using Nafion D520 (5%) solution (DuPont Corporation's production) as polyelectrolyte solution, is dripped and is covered
On silver plated fiber, 50 DEG C are dried 3 hours, and evaporation film forming forms sheaths, combination electrode fiber 7 is made；
(3) as shown in Fig. 8 (a) and Fig. 8 (b), using combination electrode fiber 7 as lower floor, using flexible fiber electrode 6 as upper
Layer, two interlayers are vertical, are arranged into array structure；Then by the array structure arranged at 50 DEG C high-temperature fusion, make two layers
It is laminated at contact point, ion induction type artificial skin array structure is made；
(4) that ion induction type artificial skin array structure made of step (3) is impregnated 2 in the HCl of 0.1mol/L is small
When；Then it is impregnated 2 hours in the NaCl solution of 0.2mol/L, obtains finished product ion induction type artificial skin battle array of good performance
Array structure.
After giving artificial skin material's pressure, voltage is measured by flexible fiber electrode-combination electrode fibre-contact point.
Embodiment 4
It is artificial that the present embodiment prepares a kind of ion induction type based on combination electrode fiber for adding yarn as follows
Skin array structure：
(1) with copper wire directly as flexible fiber electrode, with Nafion D520 (5%) solution, (DuPont Corporation gives birth to
Production) as polyelectrolyte solution, it is dripped and is overlayed on copper wire, 50 DEG C are dried 3 hours, and evaporation solvent forms sheaths, and compound electric is made
Polar fibers；
(2) as shown in figure 9, yarn 8, combination electrode fiber 7, flexible fiber electrode 6 are knitted by hand weaving, it is tight to obtain three
Solid matter row once a texturing structure of latitude type.Different layers are laminated at contact point by hot pressing again, ion sense is made
Answer formula artificial skin array structure；
(3) that ion induction type artificial skin array structure made of step (2) is impregnated 2 in the HCl of 0.1mol/L is small
When；Then it is impregnated 2 hours in the NaCl solution of 0.2mol/L, obtains finished product ion induction type artificial skin battle array of good performance
Array structure.
After giving artificial skin material's pressure, voltage passes through copper wire-combination electrode fibre-contact point or combination electrode
Fiber-combination electrode fibre-contact point measures.The texturing material makes simply, can promote pull resistance by adjusting yarn
It can or adjust resolution ratio.
The above is only the specific embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of ion induction type artificial skin array structure, it is characterised in that：The artificial skin array structure is by compound
Array architecture that electrode fiber crossovers are arranged to make up or by combination electrode fiber and the flexible fiber being made of an electrically conducting material
Electrode cross arrangement form array architecture or by combination electrode fibrage into fabric construction or by compound electric
Polar fibers and the flexible fiber electrode mixed weaving that is made of an electrically conducting material into fabric construction；
Wherein, the combination electrode fiber is made of sandwich layer and sheaths；The sandwich layer is the flexible fiber being made of an electrically conducting material
Electrode, the sheaths are the wrapping layers of the flexible fiber electrode made of polyelectrolyte；The sheaths are wrapped in the appearance of sandwich layer
Face and the exposing of sandwich layer both ends；
The mode of the cross arrangement is arranged for upper and lower layer-stepping, positioned at the combination electrode fiber and/or flexible fiber of same layer
Electrode is mutually parallel, and the arrangement angle of combination electrode fiber and/or flexible fiber electrode is 10 °~90 ° between levels；
The radical length of the flexible fiber electrode is 10~500 μm, axial length is not less than 2cm；The thickness model of the sheaths
Enclose is 10~500 μm；The integral thickness of the artificial skin array structure is not more than 2mm；
The conductive material is metal material, carbon nanotube or carbon nanotube and the mixture of graphene；
The mixing material that the polyelectrolyte is mixed for ion exchange membrane material or neutral polymer with ionic liquid.
2. ion induction type artificial skin array structure according to claim 1, it is characterised in that：The fabric construction is
Two-dimentional longitudinal-latitudinal type fabric construction, three-dimensional and multidimensional longitudinal-latitudinal type fabric construction or non-longitudinal-latitudinal type fabric construction.
3. ion induction type artificial skin array structure according to claim 1, it is characterised in that：The flexible fiber electricity
Pole and the section of the combination electrode fiber are round, ellipse or rectangle.
4. a kind of preparation method of artificial skin array structure described in any one in claims 1 to 3, it is characterised in that including
Following steps：
(1) flexible fiber electrode is made by Electrospinning in conductive material；Or using filiform as base, on the filiform
Layer of conductive material is plated, flexible fiber electrode is made；
(2) polyelectrolyte is evaporated into film technique by solution, is wrapped on flexible fiber electrode and forms sheaths, compound electric is made
Polar fibers；
(3) by combination electrode fiber or by combination electrode fiber with flexible fiber electrode hierarchy cross arrangement into array structure, then
Different layers are laminated at contact point by hot forming technology, ion induction type artificial skin array structure is made；
Or：Fabric construction is woven into, then pass through hot pressing by combination electrode fiber or by combination electrode fiber and flexible fiber electrode
Different layers are laminated by forming technique at contact point, and ion induction type artificial skin array structure is made；
(4) ion induction type artificial skin array structure made from step (3) is post-processed to improve performance, that is, completes system
It is standby；The post processing is first to impregnate the artificial skin array structure obtained by step (3) in hydrochloric acid or sulfuric acid, so
It is impregnated in alkali or alkaline earth metal cationic solution again afterwards.
5. preparation method according to claim 4, it is characterised in that：In order to adjust the resolution of artificial skin array structure
Rate, the tensile strength for increasing artificial skin array structure, into array structure or fabric construction is woven into step (3) cross arrangement
During, add in yarn or insulating polymer fiber.
6. a kind of application of artificial skin array structure described in any one in claims 1 to 3, it is characterised in that：Used in imitative
In raw robot, pressure sensor or wearing flexible electronic device.
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